CN109814482A - Controller of robot, control method of controller and industrial robot - Google Patents
Controller of robot, control method of controller and industrial robot Download PDFInfo
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Abstract
The invention discloses a controller of a robot, a control method of the controller and an industrial robot. Wherein, a memory buffer zone is preset in the controller, and the memory buffer zone comprises: the data receiving area is connected with a data interface of the controller and receives character string information sent by an external client, wherein the character string information at least carries character string data to be processed and a character flag bit; the character processing area is connected with the data receiving area and used for processing the character string data according to the character zone bits to obtain a character processing result; and the data sending area is connected with the character processing area and is used for transmitting the character processing result to an external client through a data interface. The invention solves the technical problem that the cost is increased because a plurality of communication modules are additionally purchased to realize the communication of the robot in the related technology.
Description
Technical field
The present invention relates to machine processing technical fields, in particular to the controller and its controlling party of a kind of robot
Method and industrial robot.
Background technique
In the related art, with machine man-based development, also there is diversification in the demand of client, and robot needs to connect
A variety of equipments of industrial product are simultaneously communicated, so produce some standardized communication protocols, such as Modbus TCP, MC
The agreements such as (Mitsubishi PLC), FINS (Omron PLC).But it generally requires to purchase additional lead to using these standard communication protocols
Module is interrogated, additional cost is increased.
For example, the controller of some brand industrial robots has supported a variety of logical with industrial machine man-based development
Agreement is believed, wherein most commonly seen is Ethernet socket communication.At present industrial robot and other equipment (such as Mitsubishi PLC,
Omron PLC etc.) when carrying out the socket communication of Ethernet, Fig. 1 is a kind of robot and programmable controller in the related technology
Ethernet communication architecture diagram, as shown in Figure 1, the artificial industrial robot of the machine comprising: basic machine, controller, servo
Driving, teaching machine, I/O module, other communication modules etc., wherein industrial robot be mainly integrated in the controller standard with
IP address and port numbers when communication can be set, to send and receive data in too Network Communication agreement.And other standards are led to
Agreement, such as MC (Mitsubishi PLC), FINS (Omron PLC) are believed, if not integrating these agreements in the controller, just
It needs in the external corresponding communication module of controller, to complete connection to relevant device, read and write function.I/O module can
To carry out physics wiring, the i.e. corresponding input point for being connected to PLC of the output point of controller end, the output point at the end PLC with the I O point of PLC
The corresponding input point for being connected to controller end, i.e. controller are connect by cable with interchanger, and interchanger and each communication module
Connection, the corresponding Protocol Client of each communication module, i.e., need multiple communication modules to carry out matching criteria communication in the prior art
Agreement.Each standard communication protocol in Fig. 1 is used in programmable controller PLC, realizes the Ethernet of industrial robot and PLC
The communication of socket.
In communication construction shown in fig. 1, it is corresponding to purchase and transmit that robot generally requires multiple additional communication modules
Standard communication protocol, considerably increase robot and industrial cost.
For above-mentioned problem, currently no effective solution has been proposed.
Summary of the invention
The embodiment of the invention provides a kind of controller of robot and its control method and industrial robots, at least to solve
Certainly need in the related technology it is additional purchase multiple communication modules to realize the communication of robot, cause the technology of increased costs to be asked
Topic.
According to an aspect of an embodiment of the present invention, a kind of controller of robot is provided, is set in advance in controller
An internal memory cache region is set, the internal memory cache region includes: to receive data field, connect, connects with the data-interface of the controller
Receive the character string information that external client is sent, wherein pending character string number is at least carried in the character string information
According to character denotation position；Character treatment region is connect with the reception data field, is used for according to the character denotation position to the word
Symbol string data is handled, and character processing result is obtained；Data field is sent, is connect with the character treatment region, being used for will be described
Character processing result is transmitted in the external client by the data-interface.
Further, the character denotation position is one of the following: the first numerical value, second value, and the character string information
Also carry processing mark, wherein the processing is identified as one of the following: first identifier and second identifier.
Further, the character treatment region includes at least a character processing center area, character processing center area
It include: byte processing sub-district, for when the character denotation position is first numerical value, determination need to carry out byte processing, press
The first predetermined registration operation is carried out to the string data according to the first identifier, to obtain byte processing result；Instruction processing
Area, for when the character denotation position is the second value, determination need to carry out instruction processing, according to the second identifier pair
The string data carries out second predetermined registration operation, to obtain instruction processing result, by the byte processing result or the finger
Enable processing result as character processing result.
Further, the first identifier is a numerical value, and the second identifier is an instruction code.
Further, the character treatment region further include: input area, for by it is described receive data field character string information
It is transmitted to character processing center area；Output area, for the character processing result to be sent in the transmission data field.
Further, the character recognition processor is placed in external macro document or macro-instruction.
Further, ethernet communication agreement is integrated in the controller, and address and port numbers are set, and passes through institute
It states ethernet communication agreement and the external client transmits data.
According to another aspect of an embodiment of the present invention, a kind of control method of robot controller is additionally provided, is being controlled
An internal memory cache region is preset in device, following steps are executed in the internal memory cache region: being received external client and is sent
Character string information, wherein pending string data and character denotation position are at least carried in the character string information；It presses
The string data is handled according to the character denotation position, obtains character processing result；By the character processing result
It is transmitted in the external client by data-interface.
Further, the string data is handled according to the character denotation position, obtains character processing result
It include: when the character denotation position is the first numerical value, determination need to carry out byte processing, according to first identifier to the character string
Data carry out the first predetermined registration operation, to obtain byte processing result；When the character denotation position is second value, determination need to be into
Row instruction processing carries out second predetermined registration operation to the string data according to second identifier, will to obtain instruction processing result
The byte processing result or described instruction processing result are determined as character processing result.
According to another aspect of an embodiment of the present invention, a kind of industrial robot, including above-mentioned any one institute are additionally provided
The controller of the robot stated.
Further, the industrial robot further include: processor；And memory, for storing the processor
Executable instruction；Wherein, the processor is configured to execute described in above-mentioned any one via the executable instruction is executed
Robot controller control method.
In embodiments of the present invention, the character string information that external client is sent is received by receiving data field, wherein word
Pending string data and character denotation position are at least carried in symbol string information, by character treatment region according to character denotation
Position handles string data, obtains character processing result, and character processing result is passed through data by sending data field
Interface is transmitted in external client.In this embodiment it is possible to which the internal memory cache region in controller is improved, to meet client
The socket communication need of square plurality of devices can be handled and be sent and received according to the needs of customer, self-defining agreement
Data meet the control requirement of customer, due to can be completed the arrangement of communications protocol by controller, complete data interaction,
Reduce the acquisition cost using standard traffic module, and then solves to need in the related technology additional to purchase multiple communication modules
Come the technical issues of realizing the communication of robot, lead to increased costs.
Detailed description of the invention
The drawings described herein are used to provide a further understanding of the present invention, constitutes part of this application, this hair
Bright illustrative embodiments and their description are used to explain the present invention, and are not constituted improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is the ethernet communication architecture diagram of a kind of robot and programmable controller in the related technology；
Fig. 2 is a kind of schematic diagram of the controller of optional robot according to an embodiment of the present invention；
Fig. 3 is the schematic diagram of another optional robot communication according to an embodiment of the present invention；
Fig. 4 is a kind of flow chart of the control method of optional robot controller according to an embodiment of the present invention.
Specific embodiment
In order to enable those skilled in the art to better understand the solution of the present invention, below in conjunction in the embodiment of the present invention
Attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
The model that the present invention protects all should belong in member's every other embodiment obtained without making creative work
It encloses.
It should be noted that description and claims of this specification and term " first " in above-mentioned attached drawing, "
Two " etc. be to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that using in this way
Data be interchangeable under appropriate circumstances, so as to the embodiment of the present invention described herein can in addition to illustrating herein or
Sequence other than those of description is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units are not necessarily limited to
Step or unit those of is clearly listed, but may include be not clearly listed or for these process, methods, product
Or other step or units that equipment is intrinsic.
The following embodiments of the present invention can be applied to various robots, industrial production module, in instructional modules, relative to phase
Additional communication module is purchased if necessary to generally require using standard communication protocol using in equipment in the technology of pass, is increased additional
Cost, in the embodiment of the present invention, the character string number that client sends over can be received using robot controller as server
According to this string data is split according to byte number or separator etc., the data array mode after segmentation is existed
In controller memory, corresponding data interaction function is completed, reduces the acquisition cost using standard traffic module, meanwhile, visitor
Family can carry out relevant data manipulation according to the data after segmentation, and to reach the control effect of customer, flexibility ratio is high, can
By property height, generalization is strong.Various embodiments of the present invention are described in detail below.
Fig. 2 is a kind of schematic diagram of the controller of optional robot according to an embodiment of the present invention, as shown in Fig. 2,
An internal memory cache region 10 is preset in controller, internal memory cache region 10 includes:
Data field 101 is received, is connect with the data-interface of controller, the character string information that external client is sent is received,
Wherein, pending string data and character denotation position are at least carried in character string information；
Character treatment region 102, with receive data field connect, for according to character denotation position to string data at
Reason, obtains character processing result；
Data field 103 is sent, is connect with character treatment region, it is outer for character processing result to be transmitted to by data-interface
In portion's client.
The controller of above-mentioned robot can receive the character string that external client is sent by receiving data field 101 and believe
Breath, wherein at least carry pending string data and character denotation position in character string information, pass through character treatment region
102 are handled string data according to character denotation position, obtain character processing result, by sending data field 103 for word
Symbol processing result is transmitted in external client by data-interface.In this embodiment it is possible in the memory cache of controller
Area improves, and to meet client to the socket communication need of plurality of devices, can assist according to the needs of customer, self-defining
View, handles the data sent and received, meets the control requirement of customer, since communications protocol can be completed by controller
Arrangement completes data interaction, reduces the acquisition cost using standard traffic module, and then solves to need in the related technology additional
Purchase multiple communication modules come the technical issues of realizing the communication of robot, lead to increased costs.
Optionally, the robot in the embodiment of the present invention can include but is not limited to: industrial robot, educational robot
Deng.
It is another optionally to integrate ethernet communication agreement, and address and port numbers are set in controller, by with
Too net communications protocol and external client transmit data.
In embodiments of the present invention, character denotation position is one of the following: the first numerical value, second value, and character string information
Also carry processing mark, wherein processing is identified as one of the following: first identifier and second identifier.Preferably, the first numerical value is set
It is set to 0, second value is set as 1.First numerical value and second value can be user's sets itself, for distinguish byte or
Instruction.
As an of the invention optional embodiment, character treatment region includes at least a character processing center area, at character
Reason center includes: byte processing sub-district, for when character denotation position is the first numerical value, determination need to carry out byte processing, press
The first predetermined registration operation is carried out to string data according to first identifier, to obtain byte processing result；Instruction processing sub-district, is used for
When character denotation position is second value, determination need to carry out instruction processing, and it is pre- to carry out second to string data according to second identifier
If operation, to obtain instruction processing result, using byte processing result or instruction processing result as character processing result.
It as shown in Figure 2, include that byte processing sub-district and an instruction handle sub-district in character processing center area.Root
It is respectively corresponded in corresponding processing sub-district according to the content in collected string data.
In the present invention one optionally embodiment, first identifier is that a numerical value (corresponds to second number of byte processing
Value), second identifier is an instruction code (second numerical value corresponding to instruction processing).
Fig. 3 is the schematic diagram of another optional robot communication according to an embodiment of the present invention, as shown in figure 3, right side
PLC is communicated with the controller in left side by interchanger, and PLC can be the PLC of each client, such as Omron PLC, by this
PLC is as socket client.The controller in left side can be used as socket server.
As shown in figure 3, the available string data sent to the end PLC of controller and protocol format, as assisted in Fig. 3
Discuss format are as follows: processing flag bit numeric data end of extent, wherein include needing to carry out at byte in corresponding string data
The string data of reason: the string data of 07 12345677654321d and instruction processing: 1 312345677654321d.
Wherein, d can be understood as end mark.
In embodiments of the present invention, character treatment region further include: input area, for the character string information of data field will to be received
It is transmitted to character processing center area；Output area is sent in data field for character processing result to be sent to.As shown in figure 3, logical
Cross input area by string data and protocol format be input to character processing in area conveyed after processing is completed by output area
To outside.
Character process flow in Fig. 3 includes: the data for sending over PLC, caching to reception data field, then will be received
The new value that data field finally receives is passed to the input area of character processing center, and the character then sent according to PLC takes out it
It handles marker (0 or 1), select to handle (flag bit 0) by byte or handles (flag bit 1) by instruction.
When flag bit is to handle (0) by byte, character processing center is by the byte-sized set according to client to reception
Data field the interception or conversion operation of byte is fixed, and the result of processing is transferred to output area；Such as the right side in Fig. 3 example
The byte-sized of side is 7, then character processing center will intercept twice data field, result for " 1234567 " and
“7654321”。
As shown in figure 3, character processing center will be according to existing instruction code pair when flag bit is to handle (1) by instruction
Received data field is handled.If the instruction code on right side in Fig. 3 example is 3, then character processing center will be to data field
" 12345677654321 " carry out instruction code be 3 (i.e. numerical value) data manipulation, its data is divided half-and-half every obtained knot
Fruit is also " 1234567 " and " 7654321 ".Since this part is custom protocol content, it is possible to instruction code side
Formula replaces byte processing mode.
After processing is completed, after obtaining processing, processing result can be passed to output area, then by the latest value of output area
It is passed to and sends data field；After transmission data field receives new value, by internal memory cache region, client is returned to.That is completion pair
Data receiver, parsing, the feedback loop of customer's self-defining agreement.
In an optional embodiment of the invention, character recognition processor is placed in external macro document or macro-instruction.It can
The byte processing and instruction processing links of the character processing center of the internal memory cache region in controller, it is placed into external macro text
In part or macro-instruction, deep understanding is carried out so there is no need to the memory to controller, and string data parsing can be completed.
Through the foregoing embodiment, it can be completed to client (such as in the communication of the socket in industrial robot controller
PLC the customized segmentation of the character string) sended over, and the data in controller memory after storage segmentation, concrete mode can
In a manner of the dividing processing in such as Fig. 3, the character information that obtains that treated reduces the R&D cycle, improves efficiency of research and development, and
Flexibility ratio is high, high reliablity, and generalization is strong.
Illustrate the present invention below by an alternative embodiment.
According to embodiments of the present invention, a kind of control method embodiment of robot controller is provided, it should be noted that
Step shown in the flowchart of the accompanying drawings can execute in a computer system such as a set of computer executable instructions, and
It, in some cases, can be to be different from sequence execution institute herein and although logical order is shown in flow charts
The step of showing or describing.
Fig. 4 is a kind of flow chart of the control method of optional robot controller according to an embodiment of the present invention, is being controlled
An internal memory cache region is preset in device processed, as shown in figure 4, executing following steps in internal memory cache region:
Step S402, receive external client send character string information, wherein at least carried in character string information to
The string data of processing and character denotation position；
Step S404 is handled string data according to character denotation position, obtains character processing result；
Character processing result is transmitted in external client by step S406 by data-interface.
Through the above steps, the character string information that can be sent using external client is received, wherein in character string information
Pending string data and character denotation position are at least carried, string data is handled according to character denotation position,
Character processing result is obtained, character processing result is transmitted in external client by data-interface.In this embodiment, may be used
It is improved with the internal memory cache region in controller, it, can be according to client to meet the socket communication need of client's plurality of devices
The needs of side, self-defining agreement handle the data sent and received, meet the control requirement of customer, due to passing through control
The arrangement of communications protocol can be completed in device, completes data interaction, reduces the acquisition cost using standard traffic module, and then solve
Certainly need in the related technology it is additional purchase multiple communication modules to realize the communication of robot, cause the technology of increased costs to be asked
Topic.
In an optional embodiment of the invention, string data is handled according to character denotation position, obtains character
Processing result includes: when character denotation position is the first numerical value, and determination need to carry out byte processing, according to first identifier to character string
Data carry out the first predetermined registration operation, to obtain byte processing result；When character denotation position is second value, determination need to be referred to
Order processing carries out second predetermined registration operation to string data according to second identifier, to obtain instruction processing result, byte is handled
As a result or instruction processing result is determined as character processing result.
In the embodiment of the present invention, the character string that client sends over can be received using robot controller as server
Data, this string data is split according to byte number or separator etc., and the data after segmentation are deposited with array mode
In controller memory, corresponding data interaction function is completed, reduces the acquisition cost using standard traffic module, meanwhile,
Customer can carry out relevant data manipulation according to the data after segmentation, and to reach the control effect of customer, flexibility ratio is high,
High reliablity, generalization are strong.
According to another aspect of an embodiment of the present invention, a kind of industrial robot is additionally provided, including above-mentioned any one
The controller of robot.
It is another optionally, industrial robot further include: processor；And memory, for storage processor can
It executes instruction；Wherein, processor is configured to execute the robot controller of above-mentioned any one via executable instruction is executed
Control method.
Optionally, above-mentioned processor is configured the instruction of executable following steps: receiving the character that external client is sent
String information, wherein pending string data and character denotation position are at least carried in character string information；According to character denotation
Position handles string data, obtains character processing result；Character processing result is transmitted to outside by data-interface
In client.
Another optional, above-mentioned processor is also configured the instruction of executable following steps: being the in character denotation position
When one numerical value, determination need to carry out byte processing, the first predetermined registration operation be carried out to string data according to first identifier, to obtain word
Save processing result；When character denotation position is second value, determination need to carry out instruction processing, according to second identifier to character string number
According to second predetermined registration operation is carried out, to obtain instruction processing result, byte processing result or instruction processing result are determined as character
Processing result.
The serial number of the above embodiments of the invention is only for description, does not represent the advantages or disadvantages of the embodiments.
In the above embodiment of the invention, it all emphasizes particularly on different fields to the description of each embodiment, does not have in some embodiment
The part of detailed description, reference can be made to the related descriptions of other embodiments.
In several embodiments provided herein, it should be understood that disclosed technology contents can pass through others
Mode is realized.Wherein, the apparatus embodiments described above are merely exemplary, such as the division of the unit, Ke Yiwei
A kind of logical function partition, there may be another division manner in actual implementation, for example, multiple units or components can combine or
Person is desirably integrated into another system, or some features can be ignored or not executed.Another point, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING or communication link of unit or module
It connects, can be electrical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
On unit.It can some or all of the units may be selected to achieve the purpose of the solution of this embodiment according to the actual needs.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can for personal computer, server or network equipment etc.) execute each embodiment the method for the present invention whole or
Part steps.And storage medium above-mentioned includes: that USB flash disk, read-only memory (ROM, Read-OnlyMemory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic or disk etc. be various to can store program code
Medium.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (11)
1. a kind of controller of robot, which is characterized in that preset an internal memory cache region, the memory in controller
Buffer area includes:
Data field is received, is connect with the data-interface of the controller, the character string information that external client is sent is received,
In, pending string data and character denotation position are at least carried in the character string information；
Character treatment region is connect with the reception data field, for according to the character denotation position to the string data into
Row processing, obtains character processing result；
Data field is sent, is connect with the character treatment region, for passing the character processing result by the data-interface
It transports in the external client.
2. controller according to claim 1, which is characterized in that the character denotation position is one of the following: the first numerical value,
Second value, and the character string information also carries processing mark, wherein the processing is identified as one of the following: the first mark
Knowledge and second identifier.
3. controller according to claim 2, which is characterized in that the character treatment region includes at least a character processing
Center, character processing center area include:
Byte handles sub-district, is used for when the character denotation position is first numerical value, and determination need to carry out byte processing, according to
The first identifier carries out the first predetermined registration operation to the string data, to obtain byte processing result；
Instruction processing sub-district, is used for when the character denotation position is the second value, and determination need to carry out instruction processing, according to
The second identifier carries out second predetermined registration operation to the string data, to obtain instruction processing result,
Using the byte processing result or described instruction processing result as character processing result.
4. controller according to claim 3, which is characterized in that the first identifier is a numerical value, second mark
Knowing is an instruction code.
5. controller according to claim 3, which is characterized in that the character treatment region further include:
Input area, for the character string information for receiving data field to be transmitted to character processing center area；
Output area, for the character processing result to be sent in the transmission data field.
6. controller according to claim 3, which is characterized in that by the character recognition processor be placed in external macro document or
Macro-instruction.
7. controller according to claim 1, which is characterized in that ethernet communication agreement is integrated in the controller, and
Address and port numbers are set, data are transmitted by the ethernet communication agreement and the external client.
8. a kind of control method of robot controller, which is characterized in that an internal memory cache region is preset in controller,
Following steps are executed in the internal memory cache region:
Receive the character string information that external client is sent, wherein pending word is at least carried in the character string information
Accord with string data and character denotation position；
The string data is handled according to the character denotation position, obtains character processing result；
The character processing result is transmitted in the external client by data-interface.
9. control method according to claim 8, which is characterized in that according to the character denotation position to the character string number
According to being handled, obtaining character processing result includes:
When the character denotation position is the first numerical value, determination need to carry out byte processing, according to first identifier to the character string
Data carry out the first predetermined registration operation, to obtain byte processing result；
When the character denotation position is second value, determination need to carry out instruction processing, according to second identifier to the character string
Data carry out second predetermined registration operation, to obtain instruction processing result,
The byte processing result or described instruction processing result are determined as character processing result.
10. a kind of industrial robot, which is characterized in that the control including robot described in any one of claim 1 to 7
Device.
11. industrial robot according to claim 10, which is characterized in that the industrial robot further include:
Processor；And
Memory, for storing the executable instruction of the processor；
Wherein, the processor is configured to come any one of perform claim requirement 8 to 9 institutes via the execution executable instruction
The control method for the robot controller stated.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110275532A (en) * | 2019-06-21 | 2019-09-24 | 珠海格力智能装备有限公司 | Robot control method and device and visual equipment control method and device |
| CN111752573A (en) * | 2020-07-03 | 2020-10-09 | 中山市恺特自动化科技有限公司 | Universal programming method and programmer for industrial robot |
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| CN110275532A (en) * | 2019-06-21 | 2019-09-24 | 珠海格力智能装备有限公司 | Robot control method and device and visual equipment control method and device |
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| CN112634357B (en) * | 2020-12-30 | 2022-12-23 | 哈尔滨工业大学芜湖机器人产业技术研究院 | Communication data processing method and system for robot two-dimensional vision system |
| CN113301121A (en) * | 2021-04-30 | 2021-08-24 | 北京邮电大学 | Method and system for transmitting instructions in teleoperation of robot |
| CN113301121B (en) * | 2021-04-30 | 2022-05-17 | 北京邮电大学 | Method and system for transmitting instructions in teleoperation of robot |
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